

<!DOCTYPE html>
<!--[if IE 8]><html class="no-js lt-ie9" lang="en" > <![endif]-->
<!--[if gt IE 8]><!--> <html class="no-js" lang="en" > <!--<![endif]-->
<head>
  <meta charset="utf-8">
  
  <meta name="viewport" content="width=device-width, initial-scale=1.0">
  
  <title>argoverse.visualization package &mdash; argoverse  documentation</title>
  

  
  
  
  

  
  <script type="text/javascript" src="_static/js/modernizr.min.js"></script>
  
    
      <script type="text/javascript" id="documentation_options" data-url_root="./" src="_static/documentation_options.js"></script>
        <script type="text/javascript" src="_static/jquery.js"></script>
        <script type="text/javascript" src="_static/underscore.js"></script>
        <script type="text/javascript" src="_static/doctools.js"></script>
        <script type="text/javascript" src="_static/language_data.js"></script>
    
    <script type="text/javascript" src="_static/js/theme.js"></script>

    

  
  <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
  <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
  <link rel="stylesheet" href="_static/graphviz.css" type="text/css" />
    <link rel="index" title="Index" href="genindex.html" />
    <link rel="search" title="Search" href="search.html" /> 
</head>

<body class="wy-body-for-nav">

   
  <div class="wy-grid-for-nav">
    
    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
      <div class="wy-side-scroll">
        <div class="wy-side-nav-search" >
          

          
            <a href="index.html" class="icon icon-home"> argoverse
          

          
          </a>

          
            
            
          

          
<div role="search">
  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
    <input type="text" name="q" placeholder="Search docs" />
    <input type="hidden" name="check_keywords" value="yes" />
    <input type="hidden" name="area" value="default" />
  </form>
</div>

          
        </div>

        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
          
            
            
              
            
            
              <!-- Local TOC -->
              <div class="local-toc"><ul>
<li><a class="reference internal" href="#">argoverse.visualization package</a><ul>
<li><a class="reference internal" href="#submodules">Submodules</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.colormap">argoverse.visualization.colormap module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.generate_sequence_videos">argoverse.visualization.generate_sequence_videos module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.ground_visualization">argoverse.visualization.ground_visualization module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.mayavi_utils">argoverse.visualization.mayavi_utils module</a><ul>
<li><a class="reference internal" href="#mayavi-examples">Mayavi Examples</a></li>
</ul>
</li>
<li><a class="reference internal" href="#module-argoverse.visualization.mpl_point_cloud_vis">argoverse.visualization.mpl_point_cloud_vis module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.vis_mask">argoverse.visualization.vis_mask module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.visualization_utils">argoverse.visualization.visualization_utils module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization.visualize_sequences">argoverse.visualization.visualize_sequences module</a></li>
<li><a class="reference internal" href="#module-argoverse.visualization">Module contents</a></li>
</ul>
</li>
</ul>
</div>
            
          
        </div>
      </div>
    </nav>

    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">

      
      <nav class="wy-nav-top" aria-label="top navigation">
        
          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
          <a href="index.html">argoverse</a>
        
      </nav>


      <div class="wy-nav-content">
        
        <div class="rst-content">
        
          















<div role="navigation" aria-label="breadcrumbs navigation">

  <ul class="wy-breadcrumbs">
    
      <li><a href="index.html">Docs</a> &raquo;</li>
        
      <li>argoverse.visualization package</li>
    
    
      <li class="wy-breadcrumbs-aside">
        
            
            <a href="_sources/argoverse.visualization.rst.txt" rel="nofollow"> View page source</a>
          
        
      </li>
    
  </ul>

  
  <hr/>
</div>
          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
           <div itemprop="articleBody">
            
  <div class="section" id="argoverse-visualization-package">
<h1>argoverse.visualization package<a class="headerlink" href="#argoverse-visualization-package" title="Permalink to this headline">¶</a></h1>
<div class="section" id="submodules">
<h2>Submodules<a class="headerlink" href="#submodules" title="Permalink to this headline">¶</a></h2>
</div>
<div class="section" id="module-argoverse.visualization.colormap">
<span id="argoverse-visualization-colormap-module"></span><h2>argoverse.visualization.colormap module<a class="headerlink" href="#module-argoverse.visualization.colormap" title="Permalink to this headline">¶</a></h2>
<p>An awesome colormap for really neat visualizations.</p>
<dl class="function">
<dt id="argoverse.visualization.colormap.colormap">
<code class="sig-prename descclassname">argoverse.visualization.colormap.</code><code class="sig-name descname">colormap</code><span class="sig-paren">(</span><em class="sig-param">rgb=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/colormap.html#colormap"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.colormap.colormap" title="Permalink to this definition">¶</a></dt>
<dd></dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.generate_sequence_videos">
<span id="argoverse-visualization-generate-sequence-videos-module"></span><h2>argoverse.visualization.generate_sequence_videos module<a class="headerlink" href="#module-argoverse.visualization.generate_sequence_videos" title="Permalink to this headline">¶</a></h2>
<p>A simple python script to generate sequence videos.</p>
<dl class="function">
<dt id="argoverse.visualization.generate_sequence_videos.main">
<code class="sig-prename descclassname">argoverse.visualization.generate_sequence_videos.</code><code class="sig-name descname">main</code><span class="sig-paren">(</span><em class="sig-param">arguments</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/generate_sequence_videos.html#main"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.generate_sequence_videos.main" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a></p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.ground_visualization">
<span id="argoverse-visualization-ground-visualization-module"></span><h2>argoverse.visualization.ground_visualization module<a class="headerlink" href="#module-argoverse.visualization.ground_visualization" title="Permalink to this headline">¶</a></h2>
<p>Ground visualization utilities.</p>
<dl class="function">
<dt id="argoverse.visualization.ground_visualization.draw_ground_pts_in_image">
<code class="sig-prename descclassname">argoverse.visualization.ground_visualization.</code><code class="sig-name descname">draw_ground_pts_in_image</code><span class="sig-paren">(</span><em class="sig-param">sdb</em>, <em class="sig-param">lidar_points</em>, <em class="sig-param">city_to_egovehicle_se3</em>, <em class="sig-param">dataset_map</em>, <em class="sig-param">log_id</em>, <em class="sig-param">lidar_timestamp</em>, <em class="sig-param">city_name</em>, <em class="sig-param">dataset_dir</em>, <em class="sig-param">experiment_prefix</em>, <em class="sig-param">plot_ground=True</em>, <em class="sig-param">motion_compensate=False</em>, <em class="sig-param">camera=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/ground_visualization.html#draw_ground_pts_in_image"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.ground_visualization.draw_ground_pts_in_image" title="Permalink to this definition">¶</a></dt>
<dd><p>Write an image to disk with rendered ground points for every camera.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>sdb</strong> (<a class="reference internal" href="argoverse.data_loading.html#argoverse.data_loading.synchronization_database.SynchronizationDB" title="argoverse.data_loading.synchronization_database.SynchronizationDB"><code class="xref py py-class docutils literal notranslate"><span class="pre">SynchronizationDB</span></code></a>) – instance of SynchronizationDB</p></li>
<li><p><strong>lidar_points</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – Numpy array of shape (N,3) in egovehicle frame</p></li>
<li><p><strong>city_to_egovehicle_se3</strong> (<a class="reference internal" href="argoverse.utils.html#argoverse.utils.se3.SE3" title="argoverse.utils.se3.SE3"><code class="xref py py-class docutils literal notranslate"><span class="pre">SE3</span></code></a>) – SE3 instance which takes a point in egovehicle frame and brings it into city frame</p></li>
<li><p><strong>dataset_map</strong> (<a class="reference internal" href="argoverse.map_representation.html#argoverse.map_representation.map_api.ArgoverseMap" title="argoverse.map_representation.map_api.ArgoverseMap"><code class="xref py py-class docutils literal notranslate"><span class="pre">ArgoverseMap</span></code></a>) – Map dataset instance</p></li>
<li><p><strong>log_id</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – ID of the log</p></li>
<li><p><strong>city_name</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – A city’s name (e.g. ‘MIA’ or ‘PIT’)</p></li>
<li><p><strong>motion_compensate</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">bool</span></code></a>) – Whether to bring lidar points from world frame &#64; lidar timestamp, to world frame &#64; camera
timestamp</p></li>
<li><p><strong>camera</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>]) – camera name, if specified will return image of that specific camera, if None, will save all camera to
disk and return None</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<code class="docutils literal notranslate"><span class="pre">None</span></code>, <a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>]</p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.mayavi_utils">
<span id="argoverse-visualization-mayavi-utils-module"></span><h2>argoverse.visualization.mayavi_utils module<a class="headerlink" href="#module-argoverse.visualization.mayavi_utils" title="Permalink to this headline">¶</a></h2>
<p>A collection of utilities for visualizing 3D data with Mayavi mlab.</p>
<div class="section" id="mayavi-examples">
<h3>Mayavi Examples<a class="headerlink" href="#mayavi-examples" title="Permalink to this headline">¶</a></h3>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># To save a figure:</span>
<span class="n">mayavi_wrapper</span><span class="o">.</span><span class="n">mlab</span><span class="o">.</span><span class="n">savefig</span><span class="p">(</span> <span class="n">png_savepath</span><span class="p">,</span> <span class="n">size</span><span class="o">=</span><span class="p">(</span><span class="mi">1000</span><span class="p">,</span><span class="mi">1000</span><span class="p">))</span>

<span class="c1"># To close a figure:</span>
<span class="n">mayavi_wrapper</span><span class="o">.</span><span class="n">mlab</span><span class="o">.</span><span class="n">close</span><span class="p">(</span><span class="n">fig</span><span class="p">)</span>

<span class="c1"># To adjust figure&#39;s azimuth:</span>
<span class="n">mayavi_wrapper</span><span class="o">.</span><span class="n">mlab</span><span class="o">.</span><span class="n">view</span><span class="p">(</span><span class="n">azimuth</span><span class="o">=</span><span class="mi">180</span><span class="p">)</span>
</pre></div>
</div>
<dl class="data">
<dt id="argoverse.visualization.mayavi_utils.Figure">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">Figure</code><em class="property"> = typing.Any</em><a class="headerlink" href="#argoverse.visualization.mayavi_utils.Figure" title="Permalink to this definition">¶</a></dt>
<dd><p>A stub representing mayavi_wrapper.mlab figure types</p>
</dd></dl>

<dl class="attribute">
<dt id="argoverse.visualization.mayavi_utils.Point">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">Point</code><a class="headerlink" href="#argoverse.visualization.mayavi_utils.Point" title="Permalink to this definition">¶</a></dt>
<dd><p>alias of <a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">numpy.ndarray</span></code></a></p>
</dd></dl>

<dl class="attribute">
<dt id="argoverse.visualization.mayavi_utils.PointCloud">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">PointCloud</code><a class="headerlink" href="#argoverse.visualization.mayavi_utils.PointCloud" title="Permalink to this definition">¶</a></dt>
<dd><p>alias of <a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">numpy.ndarray</span></code></a></p>
</dd></dl>

<dl class="data">
<dt id="argoverse.visualization.mayavi_utils.Number">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">Number</code><em class="property"> = typing.Union[int, float]</em><a class="headerlink" href="#argoverse.visualization.mayavi_utils.Number" title="Permalink to this definition">¶</a></dt>
<dd><p>Any numeric type</p>
</dd></dl>

<dl class="attribute">
<dt id="argoverse.visualization.mayavi_utils.Color">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">Color</code><a class="headerlink" href="#argoverse.visualization.mayavi_utils.Color" title="Permalink to this definition">¶</a></dt>
<dd><p>alias of <code class="xref py py-class docutils literal notranslate"><span class="pre">typing.Tuple</span></code></p>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.plot_bbox_3d_mayavi">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">plot_bbox_3d_mayavi</code><span class="sig-paren">(</span><em class="sig-param">fig</em>, <em class="sig-param">corners</em>, <em class="sig-param">colors=((0</em>, <em class="sig-param">0</em>, <em class="sig-param">1)</em>, <em class="sig-param">(1</em>, <em class="sig-param">0</em>, <em class="sig-param">0)</em>, <em class="sig-param">(0</em>, <em class="sig-param">1</em>, <em class="sig-param">0))</em>, <em class="sig-param">line_width=2</em>, <em class="sig-param">draw_text=None</em>, <em class="sig-param">text_scale=(1</em>, <em class="sig-param">1</em>, <em class="sig-param">1)</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#plot_bbox_3d_mayavi"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.plot_bbox_3d_mayavi" title="Permalink to this definition">¶</a></dt>
<dd><p>Plot a 3D bounding box</p>
<p>We plot the front of the cuboid in blue, and the back in red.
We plot the sides of the cuboid in green. We draw a line
segment through the front half of the cuboid, on its bottom face.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>) – Mayavi figure</p></li>
<li><p><strong>corners</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – Numpy array of shape (N,3)</p></li>
<li><p><strong>colors</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]) – RGB values used to color the cuboid</p></li>
<li><p><strong>line_width</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – Width of the cuboid’s lines</p></li>
<li><p><strong>draw_text</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>]) – Optional text to plot with the cuboid</p></li>
<li><p><strong>text_scale</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]) – Scaling factor for the text</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Updated Mayavi figure</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.plot_points_3D_mayavi">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">plot_points_3D_mayavi</code><span class="sig-paren">(</span><em class="sig-param">points</em>, <em class="sig-param">fig</em>, <em class="sig-param">per_pt_color_strengths=None</em>, <em class="sig-param">fixed_color=(1</em>, <em class="sig-param">0</em>, <em class="sig-param">0)</em>, <em class="sig-param">colormap='spectral'</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#plot_points_3D_mayavi"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.plot_points_3D_mayavi" title="Permalink to this definition">¶</a></dt>
<dd><p>Visualize points with Mayavi. Scale factor has no influence on point size rendering
when calling <cite>points3d()</cite> with the mode=”point” argument, so we ignore it altogether.
The parameter “line_width” also has no effect on points, so we ignore it also.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>points</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The points to visualize</p></li>
<li><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>) – A Mayavi figure</p></li>
<li><p><strong>per_pt_color_strengths</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>]) – An array of scalar values the same size as <cite>points</cite></p></li>
<li><p><strong>fixed_color</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]) – Use a fixed color instead of a colormap</p></li>
<li><p><strong>colormap</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – different green to red jet for ‘spectral’ or ‘gnuplot’</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Updated Mayavi figure</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.plot_3d_clipped_bbox_mayavi">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">plot_3d_clipped_bbox_mayavi</code><span class="sig-paren">(</span><em class="sig-param">fig</em>, <em class="sig-param">planes</em>, <em class="sig-param">uv_cam</em>, <em class="sig-param">colors=((0</em>, <em class="sig-param">0</em>, <em class="sig-param">1)</em>, <em class="sig-param">(1</em>, <em class="sig-param">0</em>, <em class="sig-param">0)</em>, <em class="sig-param">(0</em>, <em class="sig-param">1</em>, <em class="sig-param">0))</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#plot_3d_clipped_bbox_mayavi"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.plot_3d_clipped_bbox_mayavi" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>) – Mayavi figure</p></li>
<li><p><strong>planes</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – </p></li>
<li><p><strong>uv_cam</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – 3d points in camera coordinate frame</p></li>
<li><p><strong>colors</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>], <code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]) – </p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Updated Mayavi figure</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.draw_coordinate_frame_at_origin">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">draw_coordinate_frame_at_origin</code><span class="sig-paren">(</span><em class="sig-param">fig</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#draw_coordinate_frame_at_origin"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.draw_coordinate_frame_at_origin" title="Permalink to this definition">¶</a></dt>
<dd><p>Draw the origin and 3 vectors representing standard basis vectors to express
a coordinate reference frame.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>) – Mayavi figure</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Updated Mayavi figure</p>
</dd>
</dl>
<p><a class="reference external" href="https://github.com/hengck23/didi-udacity-2017/blob/master/baseline-04/kitti_data/draw.py">https://github.com/hengck23/didi-udacity-2017/blob/master/baseline-04/kitti_data/draw.py</a>
<a class="reference external" href="https://github.com/charlesq34/frustum-pointnets/blob/master/mayavi/viz_util.py">https://github.com/charlesq34/frustum-pointnets/blob/master/mayavi/viz_util.py</a></p>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.draw_lidar">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">draw_lidar</code><span class="sig-paren">(</span><em class="sig-param">point_cloud</em>, <em class="sig-param">colormap='spectral'</em>, <em class="sig-param">fig=None</em>, <em class="sig-param">bgcolor=(0</em>, <em class="sig-param">0</em>, <em class="sig-param">0)</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#draw_lidar"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.draw_lidar" title="Permalink to this definition">¶</a></dt>
<dd><p>Render a <span class="xref std std-ref">PointCloud</span> with a 45 degree viewing frustum from ego-vehicle.</p>
<p>Creates a Mayavi figure, draws a point cloud. Since the majority of interesting objects and
scenarios are found closeby to the ground, we want to see the objects near the ground expressed
in the full range of the colormap. Since returns on power lines, trees, and buildings
will dominate and dilute the colormap otherwise, we clip the colors so that all points
beyond a certain z-elevation (height) share the same color at the edge of the colormap.
We choose anything beyond the 90th percentile as a height outlier.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>point_cloud</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The pointcloud to render</p></li>
<li><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>]) – A pre-existing Mayavi figure to render to</p></li>
<li><p><strong>bgcolor</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – The background color</p></li>
<li><p><strong>colormap</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – “spectral” or “gnuplot” or “jet” are best</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Updated or created Mayavi figure</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.mayavi_compare_point_clouds">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">mayavi_compare_point_clouds</code><span class="sig-paren">(</span><em class="sig-param">point_cloud_list</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#mayavi_compare_point_clouds"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.mayavi_compare_point_clouds" title="Permalink to this definition">¶</a></dt>
<dd><p>Useful for visualizing the segmentation of a scene has
separate objects, each colored differently.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><p><strong>point_cloud_list</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Iterable" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Iterable</span></code></a>[<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>]) – A list of :ref:<a href="#id1"><span class="problematic" id="id2">`</span></a>PointCloud`s to render</p>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.mayavi_utils.draw_mayavi_line_segment">
<code class="sig-prename descclassname">argoverse.visualization.mayavi_utils.</code><code class="sig-name descname">draw_mayavi_line_segment</code><span class="sig-paren">(</span><em class="sig-param">fig</em>, <em class="sig-param">points</em>, <em class="sig-param">color=(1</em>, <em class="sig-param">0</em>, <em class="sig-param">0)</em>, <em class="sig-param">line_width=1</em>, <em class="sig-param">tube_radius=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mayavi_utils.html#draw_mayavi_line_segment"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mayavi_utils.draw_mayavi_line_segment" title="Permalink to this definition">¶</a></dt>
<dd><p>Draw a single line segment with Mayavi.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>fig</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a>) – The Mayavi figure to render to</p></li>
<li><p><strong>points</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Iterable" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Iterable</span></code></a>[<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>]) – The points representing the line segment to draw</p></li>
<li><p><strong>color</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – The color of the line segment</p></li>
<li><p><strong>line_width</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <code class="docutils literal notranslate"><span class="pre">None</span></code>]) – The width of the line</p></li>
<li><p><strong>tube_radius</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Union</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <code class="docutils literal notranslate"><span class="pre">None</span></code>]) – The radius if rendering the line segment as a tube</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Any" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Any</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>Mayavi figure</p>
</dd>
</dl>
</dd></dl>

</div>
</div>
<div class="section" id="module-argoverse.visualization.mpl_point_cloud_vis">
<span id="argoverse-visualization-mpl-point-cloud-vis-module"></span><h2>argoverse.visualization.mpl_point_cloud_vis module<a class="headerlink" href="#module-argoverse.visualization.mpl_point_cloud_vis" title="Permalink to this headline">¶</a></h2>
<p>Utility function to visualize a 3d point cloud from a bird’s eye view with Matplotlib (“mpl”).</p>
<dl class="function">
<dt id="argoverse.visualization.mpl_point_cloud_vis.draw_point_cloud_bev">
<code class="sig-prename descclassname">argoverse.visualization.mpl_point_cloud_vis.</code><code class="sig-name descname">draw_point_cloud_bev</code><span class="sig-paren">(</span><em class="sig-param">axes</em>, <em class="sig-param">pointcloud</em>, <em class="sig-param">color='w'</em>, <em class="sig-param">x_lim_3d=None</em>, <em class="sig-param">y_lim_3d=None</em>, <em class="sig-param">z_lim_3d=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/mpl_point_cloud_vis.html#draw_point_cloud_bev"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.mpl_point_cloud_vis.draw_point_cloud_bev" title="Permalink to this definition">¶</a></dt>
<dd><p>Draw a pointcloud from a bird’s eye view perspective.</p>
<p>Convenient method for drawing various point cloud projections with Matplotlib.
The point cloud is rendered in a 2D projection, the bird’s eye view (“bev”).</p>
<p>Reference: <a class="reference external" href="http://eamonbracht.com/lidar.html">http://eamonbracht.com/lidar.html</a></p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>axes</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Axes</span></code>) – Matplotlib axes</p></li>
<li><p><strong>pointcloud</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – Numpy array of shape (N,3) representing point cloud</p></li>
<li><p><strong>color</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – A color string (e.g. ‘w’)</p></li>
<li><p><strong>x_lim_3d</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – X axis limit</p></li>
<li><p><strong>y_lim_3d</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – Y axis limit</p></li>
<li><p><strong>z_lim_3d</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – Z axis limit</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.vis_mask">
<span id="argoverse-visualization-vis-mask-module"></span><h2>argoverse.visualization.vis_mask module<a class="headerlink" href="#module-argoverse.visualization.vis_mask" title="Permalink to this headline">¶</a></h2>
<p>This tool is loosely based off of Facebook’s Mask R-CNN visualization tool.
<a class="reference external" href="https://github.com/facebookresearch/Detectron/blob/master/detectron/utils/vis.py">https://github.com/facebookresearch/Detectron/blob/master/detectron/utils/vis.py</a></p>
<dl class="function">
<dt id="argoverse.visualization.vis_mask.decode_segment_to_mask">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">decode_segment_to_mask</code><span class="sig-paren">(</span><em class="sig-param">segm</em>, <em class="sig-param">image</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#decode_segment_to_mask"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.decode_segment_to_mask" title="Permalink to this definition">¶</a></dt>
<dd><p>Create a mask from a segment</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>segm</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – The segment</p></li>
<li><p><strong>image</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The associated image</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>A mask built from the given segment and image</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.vis_mask.vis_bbox">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">vis_bbox</code><span class="sig-paren">(</span><em class="sig-param">image</em>, <em class="sig-param">bbox</em>, <em class="sig-param">thickness=1</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#vis_bbox"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.vis_bbox" title="Permalink to this definition">¶</a></dt>
<dd><p>Visualize a bounding box.
:type image: <a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>
:param image: The input image
:type bbox: <code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>]
:param bbox: Bounding box
:type thickness: <a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>
:param thickness: Line thickness</p>
<dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
<dt class="field-even">Returns</dt>
<dd class="field-even"><p>The modified image</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.vis_mask.vis_class">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">vis_class</code><span class="sig-paren">(</span><em class="sig-param">image</em>, <em class="sig-param">pos</em>, <em class="sig-param">class_str</em>, <em class="sig-param">font_scale=50.0</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#vis_class"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.vis_class" title="Permalink to this definition">¶</a></dt>
<dd><p>Visualizes a class.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>image</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The image</p></li>
<li><p><strong>pos</strong> (<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]) – The position for the text</p></li>
<li><p><strong>class_str</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – The name of the class</p></li>
<li><p><strong>font_scale</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>) – Text size</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>The modified image</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.vis_mask.vis_mask">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">vis_mask</code><span class="sig-paren">(</span><em class="sig-param">image</em>, <em class="sig-param">mask</em>, <em class="sig-param">color</em>, <em class="sig-param">alpha=0.4</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#vis_mask"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.vis_mask" title="Permalink to this definition">¶</a></dt>
<dd><p>Visualize a single binary mask.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>image</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The input image</p></li>
<li><p><strong>mask</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The mask to visualize</p></li>
<li><p><strong>color</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>) – The color for the mask</p></li>
<li><p><strong>alpha</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>) – The alpha level for the mask</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>The modified image</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.vis_mask.vis_one_image">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">vis_one_image</code><span class="sig-paren">(</span><em class="sig-param">image</em>, <em class="sig-param">image_name</em>, <em class="sig-param">output_dir</em>, <em class="sig-param">boxes</em>, <em class="sig-param">segms=None</em>, <em class="sig-param">dpi=200</em>, <em class="sig-param">box_alpha=0.0</em>, <em class="sig-param">show_class=True</em>, <em class="sig-param">extension='pdf'</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#vis_one_image"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.vis_one_image" title="Permalink to this definition">¶</a></dt>
<dd><p>Visual debugging of detections.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>image</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The image data</p></li>
<li><p><strong>image_name</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – The name of the image</p></li>
<li><p><strong>output_dir</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – Directory to output to</p></li>
<li><p><strong>boxes</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – Boxes</p></li>
<li><p><strong>segms</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Sequence" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Sequence</span></code></a>[<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]]) – Segmentations</p></li>
<li><p><strong>dpi</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#int" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">int</span></code></a>) – DPI</p></li>
<li><p><strong>box_alpha</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>) – Alpha channel of the boxes</p></li>
<li><p><strong>show_class</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">bool</span></code></a>) – Whether to show object classes</p></li>
<li><p><strong>extension</strong> (<a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">str</span></code></a>) – Extension of the output file</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.vis_mask.vis_one_image_opencv">
<code class="sig-prename descclassname">argoverse.visualization.vis_mask.</code><code class="sig-name descname">vis_one_image_opencv</code><span class="sig-paren">(</span><em class="sig-param">image</em>, <em class="sig-param">boxes</em>, <em class="sig-param">segms=None</em>, <em class="sig-param">show_box=False</em>, <em class="sig-param">show_class=True</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/vis_mask.html#vis_one_image_opencv"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.vis_mask.vis_one_image_opencv" title="Permalink to this definition">¶</a></dt>
<dd><p>Constructs a numpy array with the detections visualized.</p>
<dl class="field-list simple">
<dt class="field-odd">Parameters</dt>
<dd class="field-odd"><ul class="simple">
<li><p><strong>image</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The image data</p></li>
<li><p><strong>boxes</strong> (<a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a>) – The box data</p></li>
<li><p><strong>segms</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.7)"><code class="xref py py-data docutils literal notranslate"><span class="pre">Optional</span></code></a>[<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Sequence" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Sequence</span></code></a>[<code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>, <a class="reference external" href="https://docs.python.org/3/library/functions.html#float" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">float</span></code></a>]]]) – Segmentations</p></li>
<li><p><strong>show_box</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">bool</span></code></a>) – Whether to show the boxes</p></li>
<li><p><strong>show_class</strong> (<a class="reference external" href="https://docs.python.org/3/library/functions.html#bool" title="(in Python v3.7)"><code class="xref py py-class docutils literal notranslate"><span class="pre">bool</span></code></a>) – Whether to show the object classes</p></li>
</ul>
</dd>
<dt class="field-even">Return type</dt>
<dd class="field-even"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
<dt class="field-odd">Returns</dt>
<dd class="field-odd"><p>The newly constructed image</p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.visualization_utils">
<span id="argoverse-visualization-visualization-utils-module"></span><h2>argoverse.visualization.visualization_utils module<a class="headerlink" href="#module-argoverse.visualization.visualization_utils" title="Permalink to this headline">¶</a></h2>
<dl class="function">
<dt id="argoverse.visualization.visualization_utils.draw_box">
<code class="sig-prename descclassname">argoverse.visualization.visualization_utils.</code><code class="sig-name descname">draw_box</code><span class="sig-paren">(</span><em class="sig-param">pyplot_axis</em>, <em class="sig-param">vertices</em>, <em class="sig-param">axes=None</em>, <em class="sig-param">color='red'</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualization_utils.html#draw_box"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualization_utils.draw_box" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.visualization_utils.draw_point_cloud">
<code class="sig-prename descclassname">argoverse.visualization.visualization_utils.</code><code class="sig-name descname">draw_point_cloud</code><span class="sig-paren">(</span><em class="sig-param">ax</em>, <em class="sig-param">title</em>, <em class="sig-param">argoverse_data</em>, <em class="sig-param">idx</em>, <em class="sig-param">axes=None</em>, <em class="sig-param">xlim3d=None</em>, <em class="sig-param">ylim3d=None</em>, <em class="sig-param">zlim3d=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualization_utils.html#draw_point_cloud"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualization_utils.draw_point_cloud" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.visualization_utils.draw_point_cloud_trajectory">
<code class="sig-prename descclassname">argoverse.visualization.visualization_utils.</code><code class="sig-name descname">draw_point_cloud_trajectory</code><span class="sig-paren">(</span><em class="sig-param">ax</em>, <em class="sig-param">title</em>, <em class="sig-param">argoverse_data</em>, <em class="sig-param">idx</em>, <em class="sig-param">axes=None</em>, <em class="sig-param">xlim3d=None</em>, <em class="sig-param">ylim3d=None</em>, <em class="sig-param">zlim3d=None</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualization_utils.html#draw_point_cloud_trajectory"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualization_utils.draw_point_cloud_trajectory" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.visualization_utils.make_grid_ring_camera">
<code class="sig-prename descclassname">argoverse.visualization.visualization_utils.</code><code class="sig-name descname">make_grid_ring_camera</code><span class="sig-paren">(</span><em class="sig-param">argoverse_data</em>, <em class="sig-param">idx</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualization_utils.html#make_grid_ring_camera"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualization_utils.make_grid_ring_camera" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><code class="xref py py-class docutils literal notranslate"><span class="pre">Tuple</span></code>[<a class="reference external" href="https://matplotlib.org/api/_as_gen/matplotlib.figure.Figure.html#matplotlib.figure.Figure" title="(in Matplotlib v3.1.0)"><code class="xref py py-class docutils literal notranslate"><span class="pre">Figure</span></code></a>, <code class="xref py py-class docutils literal notranslate"><span class="pre">Axes</span></code>]</p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.visualization_utils.show_image_with_boxes">
<code class="sig-prename descclassname">argoverse.visualization.visualization_utils.</code><code class="sig-name descname">show_image_with_boxes</code><span class="sig-paren">(</span><em class="sig-param">img</em>, <em class="sig-param">objects</em>, <em class="sig-param">calib</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualization_utils.html#show_image_with_boxes"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualization_utils.show_image_with_boxes" title="Permalink to this definition">¶</a></dt>
<dd><p>Show image with 2D bounding boxes</p>
<dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization.visualize_sequences">
<span id="argoverse-visualization-visualize-sequences-module"></span><h2>argoverse.visualization.visualize_sequences module<a class="headerlink" href="#module-argoverse.visualization.visualize_sequences" title="Permalink to this headline">¶</a></h2>
<p>A simple python script template.</p>
<dl class="function">
<dt id="argoverse.visualization.visualize_sequences.interpolate_polyline">
<code class="sig-prename descclassname">argoverse.visualization.visualize_sequences.</code><code class="sig-name descname">interpolate_polyline</code><span class="sig-paren">(</span><em class="sig-param">polyline</em>, <em class="sig-param">num_points</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualize_sequences.html#interpolate_polyline"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualize_sequences.interpolate_polyline" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><a class="reference external" href="https://docs.scipy.org/doc/numpy/reference/generated/numpy.ndarray.html#numpy.ndarray" title="(in NumPy v1.16)"><code class="xref py py-class docutils literal notranslate"><span class="pre">ndarray</span></code></a></p>
</dd>
</dl>
</dd></dl>

<dl class="function">
<dt id="argoverse.visualization.visualize_sequences.viz_sequence">
<code class="sig-prename descclassname">argoverse.visualization.visualize_sequences.</code><code class="sig-name descname">viz_sequence</code><span class="sig-paren">(</span><em class="sig-param">df</em>, <em class="sig-param">lane_centerlines=None</em>, <em class="sig-param">show=True</em>, <em class="sig-param">smoothen=False</em><span class="sig-paren">)</span><a class="reference internal" href="_modules/argoverse/visualization/visualize_sequences.html#viz_sequence"><span class="viewcode-link">[source]</span></a><a class="headerlink" href="#argoverse.visualization.visualize_sequences.viz_sequence" title="Permalink to this definition">¶</a></dt>
<dd><dl class="field-list simple">
<dt class="field-odd">Return type</dt>
<dd class="field-odd"><p><code class="docutils literal notranslate"><span class="pre">None</span></code></p>
</dd>
</dl>
</dd></dl>

</div>
<div class="section" id="module-argoverse.visualization">
<span id="module-contents"></span><h2>Module contents<a class="headerlink" href="#module-argoverse.visualization" title="Permalink to this headline">¶</a></h2>
</div>
</div>


           </div>
           
          </div>
          <footer>
  

  <hr/>

  <div role="contentinfo">
    <p>
        &copy; Copyright 2019, Argo AI, LLC

    </p>
  </div>
  Built with <a href="http://sphinx-doc.org/">Sphinx</a> using a <a href="https://github.com/rtfd/sphinx_rtd_theme">theme</a> provided by <a href="https://readthedocs.org">Read the Docs</a>. 

</footer>

        </div>
      </div>

    </section>

  </div>
  


  <script type="text/javascript">
      jQuery(function () {
          SphinxRtdTheme.Navigation.enable(true);
      });
  </script>

  
  
    
   

</body>
</html>